US11565284B2 - Crop harvesting robot - Google Patents

Crop harvesting robot Download PDF

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Publication number
US11565284B2
US11565284B2 US16/776,633 US202016776633A US11565284B2 US 11565284 B2 US11565284 B2 US 11565284B2 US 202016776633 A US202016776633 A US 202016776633A US 11565284 B2 US11565284 B2 US 11565284B2
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Prior art keywords
crop
crops
effector
gate
criterion
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US16/776,633
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US20200246839A1 (en
Inventor
Yun Nuo Chi
Brandon M. Contino
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Four Growers Inc
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Four Growers Inc
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34—Sorting according to other particular properties
    • B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
    • B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
    • A01D46/005—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs picking or shaking pneumatically
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
    • A01D46/30—Robotic devices for individually picking crops
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B07C5/363—Sorting apparatus characterised by the means used for distribution by means of air
    • B07C5/365—Sorting apparatus characterised by the means used for distribution by means of air using a single separation means
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes
    • G06V20/188—Vegetation
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/10—Image acquisition
    • G06V10/12—Details of acquisition arrangements; Constructional details thereof
    • G06V10/14—Optical characteristics of the device performing the acquisition or on the illumination arrangements
    • G06V10/143—Sensing or illuminating at different wavelengths
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/60—Type of objects
    • G06V20/68—Food, e.g. fruit or vegetables

Definitions

  • Embodiments relate to a crop harvesting apparatus to garner crops from plants via vacuum suction and sort the garnered crops via a quick-switching gate system.
  • the present invention is directed at overcoming one or more of the above-mentioned problems.
  • Embodiments relate to a crop harvesting apparatus configured to garner crops from plants via vacuum suction and sort the garnered crops via a quick-switching gate system.
  • a vacuum source generates the vacuum suction for the apparatus so that crops are garnered (or picked or plucked) from the plant via suction through an end-effector, which are then transferred to a crop sorter by way of tubing that has a smooth inner surface.
  • the crop sorter utilizes a gate system that exploits vacuum suction from the vacuum source and gravity to quickly and effectively sort the garnered crops into a hopper and a rejection bin.
  • the crop harvesting apparatus is configured to be more suitable for robotic use (e.g., the apparatus can be configured as a robotic unit) in greenhouse environment.
  • the ability to garner the crops from the plants via vacuum suction reduces the locational accuracy (e.g., determining the coordinates of the crop) that would otherwise be required with conventional harvesting systems.
  • the end-effector need only be proximal (e.g., close enough for the vacuum suction to draw the crop from the plant) to harvest the crop.
  • the smooth inner surface of the tubing reduces or eliminates any damaged (e.g., scraping, bruising, etc.) to the garnered crop as it is transferred to the crop sorter.
  • the vacuum suction and gravity feed transfer of the garnered crops throughout the system obviates the “pick and place” techniques utilized by conventional systems.
  • the pick and place technique requires more time, necessitates a higher degree of accuracy, and dictates more complexity, especially if the system is automated.
  • the inventive apparatus there is no need to accurately determine coordinates to facilitate picking an object and placing the object.
  • harvesting speeds are increased with the use of the inventive system.
  • the vacuum suction and gravity feed transfer in conjunction with the quick-switching gate system further enhances the speed with which the apparatus can harvest crops.
  • the crop harvesting apparatus utilizes a control module programmed to identify crops in greenhouse environments and to facilitate garnering and sorting crops using the mechanics disclosed herein with accuracy and speed.
  • the control module is programmed to use machine learning based vision techniques and object recognition techniques to achieve these accuracy and speeds.
  • Cameras and filters are used to collect light in the visible and non-visible spectrums for analysis by the control module.
  • control module In addition to controlling the various components of the apparatus for quick and accurate crop harvesting, such information allows the control module to provide highly precise metrics (e.g., early onset disease detection, pest pressure analysis, and yield projection, etc.) of individual crops and their associated plant(s) for further analysis.
  • an added benefit of the inventive system is having a crop harvesting apparatus that harvested crops and monitors the crops (along with their associated plant(s)) in a single unit.
  • embodiments of the apparatus can be used by groups and industries outside of crop harvesting.
  • embodiments of the apparatus or a component thereof can be used in the packing industry to retrieve, sort, and/or relocate objects (in particular soft objects) without damaging (crushing, bruising, scraping, etc.) them.
  • embodiments of the crop sorter component can be used in any application that would benefit from quick-switching in vacuum systems.
  • a crop harvesting apparatus includes a vacuum source and a crop sorter in connection with the vacuum source, the crop sorter configured to sort crops based on at least one criterion.
  • the apparatus includes an end-effector, comprising: an end-effector nozzle having an opening; and a flexible tube facilitating connection of the end-effector to the crop sorter, the flexible tube having a smooth inner surface.
  • the apparatus includes a garnering camera configured to collect information related to the at least one criterion and generate garnering crop criteria data.
  • the apparatus includes a sorting camera configured to collect information related to the at least one criterion and generate sorting crop criteria data.
  • the apparatus includes an actuating system configured to support and position the end-effector.
  • the apparatus includes a control module configured to receive and analyze the garnering crop criteria data and the sorting crop criteria data to identify crops meeting the at least one criterion and crops not meeting the at least one criterion, the at least one criterion being any one or combination of a type, a size, a color, a hue, a ripeness, insect infestation, presence of fungi, presence of bacteria, and presence of spots or discoloration of crops or plants associated with the crops.
  • the control module is configured to perform a first examination using the garnering crop criteria data to determine whether crops meet the at least one criterion or not meet the at least one criterion, and based on the first examination cause the crop harvesting apparatus to selectively garner crops from a plant through the end-effector.
  • the control module is configured to perform a second examination using the sorting crop criteria data to determine whether the garnered crops meet the at least one criterion or not meet the at least one criterion, and based on the second examination cause the crop harvesting apparatus to generate a first path or a second path for the garnered crops, the first path being an acceptance path designated for garnered crops that meet the at least one criterion, and the second path being a rejection path designated for garnered crops that do not meet the at least one criterion.
  • control module is configured to selectively garner crops by causing the actuating system to position the end-effector nozzle proximate to a target crop so that a suction force generated via the vacuum source removes the target crop from the plant, the target crop being identified at meeting the at least one criterion via the first examination.
  • the end-effector nozzle opening is angled.
  • the end-effector has an inner surface and an outer surface, and the end-effector inner surface has a lip formed at the end-effector nozzle opening and/or a spring element disposed at the end-effector nozzle opening.
  • the apparatus includes a camera disposed on the end-effector.
  • the apparatus includes a cap removably securable to the end-effector nozzle at the end-effector nozzle opening, wherein securing the cap to the end-effector nozzle reduces a size or modifies a shape of the end-effector nozzle opening.
  • the crop sorter comprises a conduit structure the first path is generated by a portion of the conduit structure that facilitates movement of the garnered crops from the end-effector, into a hopper.
  • the second path is generated by a portion of the conduit structure that facilitates movement of the garnered crops from the end-effector, into a reject bin.
  • the sorting camera is located within the end effector.
  • the crop sorter includes a plurality of gates located within the conduit structure.
  • the plurality of gates comprises a first gate, a second gate, and a third gate.
  • the first gate selectively provides fluid communication between the crop sorter and the hopper.
  • the second gate selectively provides fluid communication between the crop sorter and the end effector.
  • the third gate selectively provides fluid communication between the crop sorter and an outlet.
  • the first path includes the portion of the conduit structure from the end-effector to the hopper.
  • the second path includes the portion of the conduit structure from the end-effector to the reject bin.
  • control module is configured to control the plurality of gates so that the garnered crops follow the first path and/or the second path based on a combination of gravity and vacuum suction.
  • control module is configured to generate the first path via a first operational stage and a second operational stage.
  • first operational stage the vacuum source generates suction
  • the second gate is open to provide the generated suction at the end-effector nozzle opening and to facilitate garnering crops from the plant through the end-effector and as soon as the crop passes a first break beam, a second operational stage is initiated where the second gate is closed; and the third gate is open to allow airflow to the vacuum source to prevent overheating; and the first gate opens to allow gravity and momentum of the crop to cause the crop to fall into the hopper.
  • the sorting camera is configured to collect information related to the at least one criterion from the garnered crops while the crop is in the end-effector.
  • control module is configured to generate the second path via a first operational stage and a second operational stage.
  • first operational stage the vacuum source generates suction
  • the second gate is open to provide the generated suction at the end-effector nozzle opening and to facilitate garnering crops from the plant through the end-effector; and as soon as the crop passes a first break beam the first gate opens, allowing vacuum suction to bring the crop along the second path into a reject bin.
  • each gate of the plurality of gates includes a first plate having a first plate conduit aperture and a first plate spindle aperture, the first plate conduit aperture being in-line with the conduit structure.
  • Each gate further includes a disk having a disk spindle aperture, the disk being configured to be placed adjacent the first plate.
  • Each gate further includes a second plate having a second plate conduit aperture and a second plate spindle aperture, the second plate being configured to be placed adjacent the ring, the second plate conduit aperture being in-line with the conduit structure.
  • Each gate further includes two o-rings to seal between the first plate, the disk, and the second plate.
  • Each gate further includes a gate motor having a spindle, the gate motor being configured to be placed adjacent the first plate.
  • Each gate further includes a gate motor collar configured to be placed adjacent the disk.
  • the first plate conduit aperture and a first plate spindle aperture are configured to limit rotational motion of the disk.
  • the spindle extends through the first plate spindle aperture and the disk spindle aperture to engage with the gate motor collar so that the gate motor collar securely retains the first plate and the disk in position.
  • the first plate spindle aperture allows for free rotation of the spindle.
  • the shaft collar aperture engages the spindle and the disk so that rotation of the spindle causes rotation of the disk.
  • Some embodiments include a propulsion motor configured to cause the crop harvesting apparatus to traverse a ground surface.
  • an end-effector for a vacuum collection apparatus includes an end-effector nozzle having a first end, a second end, an inner surface, and an outer surface, the first end having an angled opening.
  • the apparatus further includes a lip formed on the inner surface at the first end and/or a spring disposed on the inner surface at the first end.
  • the apparatus further includes a flexible tube connected to the second end, the flexible tube having a smooth inner surface.
  • a gate apparatus in an exemplary embodiment, includes a first plate having a first plate conduit aperture and a first plate spindle aperture, the first plate conduit aperture being in-line with the conduit structure.
  • the apparatus further includes a disk having a disk spindle aperture, the disk being configured to be placed adjacent the first plate.
  • the apparatus further includes a second plate having a second plate conduit aperture the second plate being configured to be placed adjacent the first plate, the second plate conduit aperture being in-line with the conduit structure.
  • the apparatus further includes a gate motor having a spindle, the gate motor being configured to be placed adjacent the first plate.
  • the apparatus further includes a gate motor collar configured to be placed adjacent the disk.
  • the apparatus further includes two o-rings to seal between the first plate, the disk, and the second plate.
  • the spindle extends through the first plate spindle aperture and the disk spindle aperture to engage with the gate motor collar so that the gate motor collar securely retains the first plate and the disk in position.
  • the first plate spindle aperture allows for free rotation of the spindle.
  • the disk spindle aperture and the shaft collar engage the spindle so that rotation of the spindle causes rotation of the disk.
  • FIG. 1 shows an embodiment of the crop harvesting apparatus configured as a robotic unit
  • FIGS. 2 A- 2 B show an embodiment of an end-effector that can be used with the crop harvesting apparatus, where FIG. 2 A shows a cap attached to the end-effector and FIG. 2 B shows the cap removed from the end-effector;
  • FIG. 3 shows an exemplary schematic of an embodiment of a crop sorter that can be used with the crop harvesting apparatus
  • FIG. 4 shows an embodiment of a gate that can be used with the crop sorter
  • FIG. 5 shows a process flow diagram that can be used by a control module of the crop harvesting apparatus.
  • embodiments of the crop harvesting apparatus are configured to gamer objects from via vacuum suction and sort the garnered objects via a quick-switching gate system. While embodiments disclose the apparatus for use to garner crops (e.g. crops, fruit, vegetables, etc.), the apparatus can be used to garner and sort other objects, such as soft objects, delicate objects, etc.
  • the vacuum source generates the vacuum suction for the apparatus so that crops are garnered (or picked or plucked) from a plant via suction through an end-effector, which are the transferred to a crop sorter by way of tubing that has a smooth inner surface.
  • the crop sorter utilizes a gate system that exploits vacuum suction from the vacuum source and gravity to quickly and effectively sort the garnered crops into a hopper and a rejection bin.
  • the crop harvesting apparatus 100 includes a vacuum source 102 .
  • the vacuum source 102 can be a pump, compressor, vacuum motor, etc.; essentially any device that can create vacuum suction.
  • the apparatus 100 further includes a crop sorter 104 in connection with the vacuum source 102 .
  • the crop sorter 104 is configured to sort crops based on at least one criterion.
  • the crop sorter 104 moves crops (e.g., tomatoes) either in path one or path two.
  • Path one ends inside the hopper 106 , which is connected to a conveyor 111 that transfers the tomatoes to a packing cart.
  • Path two ends in the rejection bin 108 .
  • the crop sorter 104 has a plurality of gates 110 located within the conduit structure.
  • the plurality of gates 110 can include a first gate, a second gate, and a third gate.
  • a crop will travel in path- 1 into the hopper 106 if it's deemed an acceptable crop.
  • the conveyor 111 will then move that crop from the hopper 106 to the packing cart.
  • a crop will travel along path- 2 into the reject bin if it's deemed an unacceptable crop.
  • break beam- 1 The way a crop is moved along path- 1 is using break beam- 1 , break beam- 2 , gate- 1 , gate- 2 , and gate- 3 .
  • break beam- 1 senses the crop passed
  • vacuum to the end effector 114 is cut off by closing gate- 2 and opening gate- 3 .
  • gate- 1 opens to let the crop exit the system into the hopper 106 .
  • break beam- 2 senses that the crop has passed by it closes the gate immediately.
  • the way a crop is moved along path- 2 is also using the same setup as before.
  • air is sent through gate- 1 by opening gate- 1 . This makes the crop get sucked into the cyclone and into the reject bin 108 .
  • each gate 110 of the plurality of gates 110 can include a first plate 116 a , two o-rings 118 , a disk 120 , a second plate 116 b , a gate motor 124 , and a gate motor collar 126 .
  • the first plate 116 a has a first plate conduit aperture and a first plate spindle aperture, the first plate conduit aperture being in-line with the conduit structure. Being in-line can include being co-axial.
  • the disk 120 has a disk spindle aperture.
  • the disk 120 in the gate 110 is configured to be placed within the first plate 116 a . The rotation is therefore limited by the first plate 116 a .
  • the second plate 116 b has a second plate conduit aperture.
  • the second plate 116 b in the gate 110 is configured to be placed adjacent the first plate 116 a .
  • the second plate conduit aperture is in-line with the conduit structure.
  • the first plate conduit aperture is in-line with the second plate conduit aperture so as to form the conduit structure within the gate 110 .
  • the gate motor 124 has a spindle, and the gate motor 124 is configured to be placed adjacent the first plate 116 a .
  • the gate motor collar 126 is configured to be placed adjacent the disk 120 .
  • the spindle of the gate motor 124 extends through the first plate spindle aperture and the disk spindle aperture to engage with the gate motor collar 126 so that the gate motor collar 126 securely retains the first plate 116 a and the disk 120 in position.
  • the first plate spindle aperture allows for free rotation of the spindle.
  • the gate motor collar 126 engages the spindle and the disk spindle aperture so that rotation of the spindle causes rotation of the disk 120 .
  • the disk 120 rotates to obstruct or unobstruct the conduit structure.
  • Obstructing the conduit structure involves preventing objects (e.g., crops) and/or preventing fluid flow (e.g., air being forced by the vacuum source 102 ) from passing through the conduit structure.
  • unobstructing the conduit structure involves allowing objects (e.g., crops) and/or allowing fluid flow (e.g., air being forced by the vacuum source 102 ) to pass through the conduit structure.
  • the apparatus further includes an end-effector 114 .
  • the end-effector has an end-effector nozzle with an opening.
  • the end-effector 114 also has a flexible tube 109 facilitating connection of the end-effector 114 to the crop sorter 104 . It is contemplated for the flexible tube 109 to have a smooth inner surface.
  • the end-effector nozzle opening is angled.
  • the end-effector 114 can have an end-effector nozzle with a first end, a second end, an inner surface, and an outer surface.
  • the flexible tube 109 can be connected to the second end.
  • the first end preferably has the angled opening, which can be any angle that is not perpendicular.
  • the angle can range from 30-degrees to 60-degrees, and in a preferred form is approximately 45-degrees.
  • other angles and angle ranges are also contemplated (including perpendicular) depending on the crop or object to be garnered.
  • the end-effector inner surface has a lip 128 formed at the end-effector nozzle opening, and/or a torsion spring (or spring-like element).
  • the lip 128 and/or spring can be formed on the inner surface at the first end. This lip 128 can provide for improved harvesting accuracy, via an ensured harvest. For fruits/vegetables which are tightly connected to the plant, the additional lip/spring ensures proper harvesting through the passive “grabbing” of the fruit/vegetable.
  • Some embodiments of the apparatus have a camera 130 disposed on the end-effector 114 .
  • Some embodiments of the apparatus include a cap 132 removably securable to the end-effector nozzle at the end-effector nozzle opening or at the first end. Securing the cap 132 to the end-effector nozzle reduces a size or modifies a shape of the end-effector nozzle opening. This can be done to control the type, shape, and size of the crop being garnered from the plant.
  • the apparatus has an actuating system 134 configured to support and position the end-effector 114 .
  • the actuating system 134 is configured as a robotic arm.
  • the apparatus 100 has a garnering camera 136 configured to collect information related to the criterion and generate garnering crop criteria data.
  • the apparatus 100 also has a sorting camera configured to collect information related to the criterion and generate sorting crop criteria data.
  • Any of the garnering camera 136 and the sorting camera can be configured to collect light in the visible and non-visible spectrums from the crop and/or the plant associated with the crop for analysis.
  • Any of the cameras disclosed herein can be any one or combination of high resolution visible spectrum camera, stereo camera, and other spectrum camera.
  • the sorting camera is located within the first crop sorter segment. In some embodiments, the garnering camera 136 is located on the actuating system 134 , the end-effector 114 , or other portion of the apparatus 100 .
  • the apparatus 100 has a control module 138 (e.g., a processor or computer device) configured to receive and analyze the garnering crop criteria data and/or the sorting crop criteria data.
  • the control module 138 identifies crops meeting the criterion (or criteria) and crops not meeting the criterion (or criteria).
  • the criterion (or criteria) can be any one or combination of a type, a size, a color, a hue, a ripeness, insect infestation, presence of fungi, presence of bacteria, and presence of spots or discoloration of crops or plants associated with the crops.
  • the control module 138 is configured to perform a first examination using the garnering crop criteria data to determine whether crops meet the criterion or not meet the criterion.
  • the control module 138 causes the crop harvesting apparatus 100 to selectively gamer crops from a plant through the end-effector 114 .
  • the control module 138 is configured to perform a second examination using the sorting crop criteria data to determine whether the garnered crops meet the criterion or not meet the criterion.
  • the control module 138 causes the crop harvesting apparatus 100 to generate a first path or a second path for the garnered crops.
  • the first path is an acceptance path designated for garnered crops that meet the criterion.
  • the second path is a rejection path designated for garnered crops that do not meet the criterion.
  • the control module 138 is configured to selectively garner crops by causing the actuating system 134 to position the end-effector nozzle proximate to a target crop so that a suction force generated via the vacuum source 102 removes the target crop from the plant, the target crop being identified at meeting the criterion via the first examination.
  • the control module 138 is configured to control the plurality of gates 110 so that the garnered crops follow the first path and/or the second path based on a combination of gravity and vacuum suction. It is contemplated for the control module 138 to be configured to generate the first path via a first operational stage and a second operational stage. During the first operational stage, the vacuum source 102 generates suction. The second gate 110 is open to provide the generated suction at the end-effector nozzle opening and to facilitate garnering crops from the plant through the end-effector 114 . When the crop passes the break beam- 1 that triggers the second operational stage, the vacuum source 102 generates suction. The second gate 110 is closed to eliminate vacuum suction being generated in the end-effector 114 .
  • the first gate 110 is open to allow gravity to force the garnered cops to fall into the hopper 106 .
  • the third gate 110 is open allowing air outside of the crop sorter 104 to enter the crop sorter 104 and be routed to the vacuum source 102 so as to prevent overheating of the vacuum source 102 . All three gates 110 switching is done within 60 milliseconds while the crop is still falling through the section between break beam- 1 and the first gate 110 . This happens so fast that the crop never touches the disk in first gate 110 . If it wasn't for the gates 110 being able to open so fast the crop would slam against the disk 120 of the first gate 110 and turn into juice. After the crop passes by break beam- 2 the gates 110 return to the first operational stage and allows more crops to be harvested.
  • control module 138 it is contemplated for the control module 138 to be configured to generate the second path via a first operational stage and a second operational stage.
  • the vacuum source 102 generates suction.
  • the second gate 110 is open to provide the generated suction at the end-effector nozzle opening and to facilitate garnering crops from the plant through the end-effector 114 .
  • the first gate 110 is open, the second gate 110 is open, and the third gate 110 is closed so that vacuum suction draws the garnered crops into the cyclone 140 and into the rejection bin 108 .
  • the garnering and sorting of crops is based on them meeting the criterion (or criteria).
  • the criterion can be any one or combination of a type, a size, a color, a hue, a ripeness, insect infestation, presence of fungi, presence of bacteria, and presence of spots or discoloration of crops or plants associated with the crops.
  • the garnering crop criteria data and sorting crop criteria data can include information about the crop or the plant related to any one or combination of these criteria.
  • the control module 138 is programmed to use machine learning based vision techniques and object recognition techniques (e.g., Gabor filtering, image smoothing and processing, etc.) to process these data.
  • the control module 138 can further be programmed to use time of year, the season, the desired ripeness (e.g., this can be determined by analyzing the shape, size, and color of data collected via the visible light spectrum), the maximization of product yield, etc. as factors to determine if the crop should be garnered or how it should be sorted.
  • the crop harvesting apparatus 100 can be used to harvest the crops in an autonomous manner (fully autonomous or semi-autonomous). This can be achieved by configuring the crop harvesting apparatus 100 as a robotic unit.
  • the robotic unit has a propulsion motor configured to cause the crop harvesting apparatus 100 to traverse a ground surface.
  • the propulsion motor can be configured to work in connection with a drivetrain to drive at least one wheel or tread to allow the robotic unit to traverse a track that sits adjacent to a row of crops.
  • the robotic unit is structured as a cart having a wheeled carriage 142 configured to traverse a track located on a floor of a greenhouse.
  • the propulsion motor (e.g., an electric motor) is in connection with the wheeled carriage 142 via the drivetrain.
  • the crop harvesting apparatus 100 is connected to the cart so that as the robotic unit traverses the tracks, the crop harvesting apparatus 100 is moved along with the robotic unit.
  • the control module 138 is configured to control the propulsion motor, the vacuum source 102 , the gates 110 of the crop sorter 104 , the garnering and sorting cameras 136 , and the actuating system 134 to facilitate garnering and sorting crops from the various plants located within the greenhouse.
  • control module 138 causes the robotic unit to traverse the tracks, it causes the garnering camera 136 to collect the garnering crop criteria data for analysis.
  • the garnering crop criteria data can also include information about the location of the crop to be garnered (e.g., the targeted crop). This information is converted into coordinates so that the control module 138 causes the robotic unit to stop and/or causes the actuating system 134 to move the end-effector 114 to be proximate the targeted crop. Once the end-effector 114 is proximate the targeted crop, the control module 138 activates the vacuum source 102 to generate the vacuum suction in the crop sorter 104 and the end-effector 114 .
  • the control module 138 then generates the first and/or second paths in the crop sorter 104 so that the targeted crops are garnered in accordance with the first examination and subsequently sorted in accordance with the second examination.
  • the specific configuration of the gates 110 and the vacuum suction/gravity feed flow mechanism provides quick gate switching for the sorting of crops as they are being garnered. For instance, the gates 110 can be switched from the obstructed to unobstructed state or vice versa as quickly as 0.060 second (with the gate motor operating at 3000 rpm).
  • the apparatus 100 can be used to also monitor aspects of the plants associated with the crops.
  • the control module 138 can be programmed to perform a plant monitoring perception examination based on the data collected (which can include information about the crops and/or the plants) from the cameras.
  • the robotic unit moves through the environment, its location can be tracked. This tracking can be used to identify the location of certain plants exhibiting early onset-disease, variations in yield projection, pest pressure analysis, etc.

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
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  • Robotics (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Sorting Of Articles (AREA)
  • Harvesting Machines For Specific Crops (AREA)
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US11198529B2 (en) * 2019-04-01 2021-12-14 Harvest Croo, Llc Apparatus and method for filling a container with fragile fruit
EP4114166A4 (de) * 2020-03-02 2024-03-13 Appharvest Technology, Inc. Greifwerkzeuge zum greifen, handhaben und entfernen von gegenständen
CN111972127A (zh) * 2020-08-14 2020-11-24 南京农业大学 一种吞咽式果蔬采摘机器人
CN111820006B (zh) * 2020-08-20 2024-05-28 浙江工业大学 一种用于球状果实的采摘机器人
KR102259009B1 (ko) * 2021-02-26 2021-06-01 아이오크롭스 주식회사 수확 대상 과실 판단 방법 및 과실 수확 장치
WO2024129705A2 (en) * 2022-12-13 2024-06-20 Four Growers, Inc. Produce harvesting system
CN116616045B (zh) * 2023-06-07 2023-11-24 山东农业工程学院 一种基于植物生长的采摘方法及采摘系统
JP7485321B1 (ja) * 2024-04-05 2024-05-16 株式会社トクイテン 青果物収穫装置

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EP3917307A1 (de) 2021-12-08
US20200246839A1 (en) 2020-08-06
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EP3917307B1 (de) 2025-07-16
CA3128185A1 (en) 2020-08-06
WO2020160208A1 (en) 2020-08-06

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